| 摘要 |
PROBLEM TO BE SOLVED: To provide a parallel link robot reduced in the number of pairs, which accordingly is reduced in dimension of a base 11 and a movable plate 12 for making it compact in size. SOLUTION: This parallel link robot 1 is formed of the base 11, the movable plate 12 for fitting of an end effector, and three pairs of arms 13, respectively formed of two links 13L1 and 13L2 respectively connected to the base 11 and the movable plate 12 at one end thereof. One end of the lower link 13L2 of each arm 13 is connected to the base 11 through two-stage freedom rotation pair 14U, formed of two rotation pairs having rotary shafts non-parallel with each other, and the other end of the upper link 13L1 is connected to the movable plate 12 through a spherical pair 15K. The link 13L1 or 13L2, forming the arm 13, has a direct acting pair 16G and is can be extended and shrunk. A controllable driving actuator is installed in one of the rotation pairs and the direct acting pair.
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